In this technical note, a nonlinear observer strategy is proposed to asymptotically identify the velocity and range of the feature points on a moving object using a static-moving camera system. Specifically, the camera system consists of a static camera and a moving camera. The observers are developed in a sequential way. First, nonlinear observers are designed to identify the scaled velocity of the feature points and the angular velocity of the moving camera. Second, based on the estimated velocities, the range of the feature points is identified by a reduced order estimator. Homography-based techniques are used in the auxiliary state construction and the observer design. With the estimated scaled velocity and range, the motion and structure of the object can be obtained with respect to both cameras. The proposed approach does not require the motion constraint or a priori geometric knowledge of the moving object. Furthermore, Lyapunov-based analysis is used to prove that the estimators asymptotically identify the velocity and range of the feature points. The performance of the proposed strategy is demonstrated by simulation results.